A navigation system may calculate a route to a destination and output guidance information with an output device to guide a user of the navigation system along the calculated route. If it is determined that a navigation device has left the calculated route, the navigation system may prompt the user asking whether output of guidance information should be suspended. If the output of guidance information should be suspended, the navigation system may suspend the output of guidance information and calculate a new route to the destination while the output of guidance information is suspended. The navigation system may calculate an estimated arrival time at the destination based on the calculated new route and output the estimated arrival time while the output of guidance information is suspended.